Residuals and residual covariances from direct state measurements for
computes the residual,
res, and the residual covariance,
resCov, based on the direct state measurement and measurement
measurement maps directly to the states specified by
idx — State vector index of measurements to correct
N-element vector of increasing integers in the range [1,
State vector index of measurements to correct, specified as an N-element vector of increasing integers in the range [1, 17].
The state values represent:
|Orientation (quaternion parts)||N/A||1:4|
|Gyroscope Bias (XYZ)||rad/s||11:13|
|Accelerometer Bias (XYZ)||m/s2||14:16|
|Visual Odometry Scale (XYZ)||N/A||17|
measurement — Direct measurement of state
Direct measurement of state, specified as a N-element vector. N is the number of elements of the index argument,
measurementCovariance — Covariance of measurement
Covariance of measurement, specified as an N-by-N matrix. N is the number of elements of the index argument,
res — Measurement residual
1-by-N vector of real values
Measurement residual, returned as a 1-by-N vector of real values.
resCov — Residual covariance
N-by-N matrix of real values
Residual covariance, returned as a N-by-N matrix of real values.
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Introduced in R2020a